Inertial piezoelectric actuators work by matching the impact driving force and friction. Most inertial piezoelectric actuators generate an impact force difference between the forward and backward motion, while the friction keeps unchanged. This paper proposed an inertial actuator driven by the friction difference in a cycle. Friction was actively regulated with an electromagnet to match the symmetric driving force. A prototype with symmetrical cantilever structure and electromagnet friction adjusting unit was fabricated. The dynamic model of the actuator is established and a series of experiments were conducted to verify the feasibility of the driving principle. Experiment results indicated that the actuator based on active friction regulation worked stably and exhibited excellent bearing capacity. Active friction regulation, with the help of magnetic force, could be a promising alternative to the dominant working principle of inertial actuator.

惯性压电致动器通过匹配冲击驱动力和摩擦力来工作。大多数惯性压电致动器在向前和向后运动之间产生冲击力差，而摩擦保持不变。本文提出了一种由摩擦差驱动的惯性驱动器在一个周期内。摩擦由电磁体主动调节以匹配对称驱动力。制作了具有对称悬臂结构和电磁摩擦调节装置的样机。建立了执行器的动力学模型，并进行了一系列实验，验证了驱动原理的可行性。实验结果表明，基于主动摩擦调节的执行器工作稳定，具有良好的承载能力。主动摩擦调节，